| 摘要 |
PROBLEM TO BE SOLVED: To simplify an avoidance area and a pattern of avoidance routes to realize efficiency of a route determination, thereby deriving an avoidance route quickly with a light load.SOLUTION: An avoidance route deprivation method includes: identifying an avoidance area that is to be avoided (S1); dividing a target region including the avoidance area into plural polygon division zones (S2); extracting plural candidate nodes, each located at a corner of a division zone and outside of a border of the avoidance area (S4); and determining whether division routes from a discretionary avoidance start point to a candidate node, between candidate nodes, and from the candidate node to a discretionary avoidance end point intersect with the avoidance area, and identifying an avoidance route that consists of continuous division routes without intersecting with the avoidance area between the avoidance start point and the avoidance end point and whose total distance is the shortest (S5). |
